Unitree Go1 Wireless Network Setup for Low Level Control with Windows and Docker

gistfile1.txt

# From Windows terminal
docker run -p 6080:80 --shm-size=512m --name ros_go1 -d tiryoh/ros-desktop-vnc:melodic

# Access the instance through the url
http://localhost:6080

# From home directory in Docker
mkdir -p catkin_ws/src

# Go into catkin workspace
cd catkin_ws/src

# Clone legged SDK for Go1
git clone -b v3.8.0 https://github.com/unitreerobotics/unitree_legged_sdk

# Build for low level
cd unitree_legged_sdk && mkdir build && cd build && cmake .. && make

# Power up Unitree Go1 and connect to wireless network

# Put Go1 into low level mode with remote
# L2 + A
# L2 + A
# L2 + B
# L1 + L2 + Start

# SSH to Pi with password 123
ssh [email protected]

# Execute the following code on the robot's Raspberry Pi：
sudo vi /etc/sysctl.conf

# Remove the comment in front of net.ipv4.ip_forward=1

# Reload sysctl
sudo sysctl -p

# Setup iptables for wireless config

# Flush iptables
sudo iptables -F

# Flush NAT table
sudo iptables -t nat -F

# Setup NAT table routing
sudo iptables -t nat -A POSTROUTING -o wlan1 -j MASQUERADE
sudo iptables -t nat -A POSTROUTING -o eth0 -j MASQUERADE
sudo iptables -A FORWARD -i wlan1 -o eth0 -j ACCEPT
sudo iptables -A FORWARD -i eth0 -o wlan1 -j ACCEPT

# Do the following on your own laptop (Linux host only)
# sudo route add default gw 192.168.12.1